I don't believe that's an option from stock. But you can grab something like GSam Battery Monitor for free in the app store and it will give you that feature plus a lot of other nice reporting options that you can choose to use or ignore.
I don't know why these manufacturers can't put it there in place of the battery. The phone obviously knows whats left, so give us the option to show it instead of having to use a separate app. Very annoying. It was one of the things I liked about being rooted with my GNex.